Multiple-magnet hand-mounted position-tracking device

ABSTRACT

A hand-mounted position-tracking device includes a plurality of position-tracking subsystems. Each position-tracking subsystem is associated with a different digit of a hand and includes a magnet and a sensor that generates a signal based on a distance between the magnet and the sensor. Each position-tracking subsystem further includes a rotatable coupling that rotationally couples the magnet to the sensor.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of the co-pending U.S. patentapplication titled, “MULTIPLE-MAGNET HAND-MOUNTED POSITION-TRACKINGDEVICE,” filed on Jul. 29, 2022, and having Ser. No. 17/877,590. Thesubject matter of this related application is hereby incorporated hereinby reference.

BACKGROUND Field of the Various Embodiments

The various embodiments relate generally to virtual and augmentedreality computing and motion and position tracking and, morespecifically, to a multiple-magnet hand-mounted position-trackingdevice.

Description of the Related Art

Virtual reality (VR) involves the immersive digital simulation ofreal-world experiences and/or experiences in fictional or constructedenvironments. Applications of VR include, without limitation, gaming andother forms of digital entertainment, education, business (such asvirtual meetings), and training (such as practicing fine motor skills orthe use of complex physical interfaces).

Traditionally, when interacting with VR environments, users employ inputdevices that include analog inputs, such as joysticks, and digitalinputs, such as buttons. Examples of these types of input devicesinclude VR handsets and gaming console controllers. However, as VRapplications become more sophisticated, more complex interactions withvirtual objects within VR environments are necessary. In particular,more precise tracking of hand and finger motions within VR environmentsare required to simulate fine motor movements of a user's hands andfingers. As a general matter, the simple analog and digital inputsprovided by conventional VR handsets and gaming console controllerscannot generate sufficiently precise inputs for more complex VRapplications. Notably, conventional input devices are not able tocapture subtle hand and finger motions of users. In an effort to addressthese shortcomings of conventional input devices, input devices thatusers wear on their hands (referred to herein as “data gloves”) havebeen developed to more precisely track the movement and position of auser's individual fingers within a VR environment.

One current data glove design is a flex-sensor-based glove that includesan array of flex sensors for tracking the movements and positions ofeach finger of a user. In these types of designs, the resistance valueof each flex sensor changes according to the bending of a particularjoint, which allows the bent angle of that joint to be estimated. Onedrawback to flex-sensor designs is that these designs provide accuratetracking only when a user's hand and fingers fit snugly into the glovewithout stretching the glove material. Consequently, a differently sizedglove is needed for almost every different user, and, even then, therelated sensor readings may be somewhat inaccurate due to materialstretching.

Another current data glove design forms part of an optical system inwhich a camera tracks visible markers on a user's hands and/or fingers.Alternatively, optical systems may serve as a substitute for datagloves, tracking ungloved hands using computer vision. One drawback ofthis type of design is that an optical system is unable to trackpositions properly when the line of sight between the camera and theglove is occluded. Occlusion causes the same problems in a system inwhich the vision sensor is attached to the gloves and tracks markers orlights in the environment.

Yet another current data glove design includes a magnet attached to thebase of the glove and Hall-effect sensors on the fingers of the glovethat enable the movements and positions of each user finger to betracked. One drawback to these designs is that the magnet of one glovecan interfere with the finger position tracking of the other glove whenthe user's hands are close together.

Yet another current data glove design includes one or more inertialmeasurement units (IMUs) for each user finger that detects theacceleration and/or rotation of the associated fingers or joints. Onedrawback to these designs is that each IMU is prone to drift. Therefore,frequent recalibration is required.

As the foregoing illustrates, what is needed in the art are moreeffective ways to generate control inputs when interacting with VR oraugmented reality environments.

SUMMARY

One embodiment of the present sets forth a hand-mountedposition-tracking device that includes a plurality of position-trackingsubsystems, wherein each position-tracking subsystem is associated witha different digit of a hand and comprises: a magnet; and a sensor thatgenerates a signal based on a distance between the magnet and thesensor.

At least one technical advantage of the disclosed design relative to theprior art is that the disclosed design enables occlusion-agnostic motionand position tracking of a user's fingers that is free from magneticinterference when two-handed gestures are performed. Another technicaladvantage of the disclosed design is that the magnet and sensor in eachposition-tracking subsystem have a fixed rotational relationship withone another that is not subject to drift and is able to provide accuratefinger positioning even when the hand-mounted position-tracking devicemust stretch to fit a user's hand. These technical advantages representone or more technological improvements over prior art designs andapproaches.

BRIEF DESCRIPTIONS OF THE DRAWINGS

So that the manner in which the above recited features of the variousembodiments can be understood in detail, a more particular descriptionof the inventive concepts, briefly summarized above, may be had byreference to various embodiments, some of which are illustrated in theappended drawings. It is to be noted, however, that the appendeddrawings illustrate only typical embodiments of the inventive conceptsand are therefore not to be considered limiting of scope in any way, andthat there are other equally effective embodiments.

FIG. 1 illustrates a virtual reality system configured to implement oneor more aspects of the various embodiments.

FIG. 2 is a more detailed illustration of the data glove of FIG. 1 ,according to various embodiments.

FIG. 3 is a more detailed illustration of the position-trackingsubsystem of FIG. 2 , according to various embodiments.

FIG. 4 sets forth a flowchart of method steps for remapping signalsreceived from a hand-mounted position-tracking device, according tovarious embodiments.

FIG. 5 is a more detailed illustration of the position-trackingsubsystem of FIG. 2 , according to various other embodiments.

FIG. 6 is a block diagram of a computing device configured to implementone or more aspects of the various embodiments.

For clarity, identical reference numbers have been used, whereapplicable, to designate identical elements that are common betweenfigures. It is contemplated that features of one embodiment may beincorporated in other embodiments without further recitation.

DETAILED DESCRIPTION

In the following description, numerous specific details are set forth toprovide a more thorough understanding of the embodiments. However, itwill be apparent to one of skill in the art that the embodiments may bepracticed without one or more of these specific details.

System Overview

FIG. 1 illustrates a virtual reality (VR) system 100 configured toimplement one or more aspects of the various embodiments. In theembodiment illustrated in FIG. 1 , VR system 100 includes a computingdevice 120 running an VR engine 121, one or more interface devices 140,one or more position-tracking devices 150, and a VR environment 160 thatis generated by VR engine 121. VR system 100 is configured to enable auser (not shown) to perform tasks and/or interact with virtual objectsin VR environment 160. For example, using VR environment 160 andposition-tracking devices 150, a user can interact with virtual objectsin VR environment 160 to train for physical tasks associated withmedical, military, or industrial procedures, or interact with VR-basedsoftware applications. In another example, using VR environment 160 andposition-tracking devices 150, a user can experience and interact withan immersive virtual environment, such as in a VR gaming application. Inthe embodiments described herein, VR system 100 is configured for thegeneration of and interactions with a VR environment. In otherembodiments, VR system 100 can be configured for the generation of andinteractions with an augmented reality (AR) environment, in which ARvisual elements are superimposed on a video of the actual environmentthe user is facing.

As shown, external computing device 120, interface devices 140, andposition-tracking devices 150 are communicatively connected to eachother. In some embodiments, external computing device 120, interfacedevices 140, and position-tracking devices 150 can be communicativelyconnected via any technically feasible communication network (not shown)that allows data to be exchanged between external computing device 120and external entities or devices, such as interface devices 140,position-tracking devices 150, a web server, or another networkedcomputing device (not shown). For example, in some embodiments thecommunication network includes a wide area network (WAN), a local areanetwork (LAN), a wireless (WiFi) network, a Bluetooth network and/or theInternet, among others.

External computing device 120 is a computing device that is configuredto enable various embodiments described herein. For example, externalcomputing device 120 can be a smartphone, laptop computer, electronictablet, wearable smart device, or other computing device that isavailable to a user. Alternatively, external computing device 120 can bea desktop computer that is available to the user. An example embodimentof external computing device 120 is described below in conjunction withFIG. 6 . As shown, external computing device 120 runs VR engine 121,which generates VR environment 160, receives position-tracking signals151 from position-tracking devices 150, and modifies VR environment 160based in part on position-tracking signals 151. Position-trackingsignals 151 include position, orientation, and/or gesture information orsignals indicating the motion and/or relative position of the handand/or fingers of a user wearing one or more position-tracking devices150.

Alternatively, in some embodiments, external computing device 120 isincorporated into a data glove 152 or an interface device 140.Alternatively, in some embodiments, external computing device 120 isconfigured as a separate device from data glove 152.

Interface devices 140 are configured to present VR environment 160 to auser. In the embodiment illustrated in FIG. 1 , interface devicesinclude at least one of a VR headset 141 and/or a display 142. VRheadset 141 can be configured to display a VR and/or an augmentedreality (AR) environment, such as VR environment 160. Thus, in someembodiments, VR headset 141 is configured as an AR-only device, in someembodiments, VR headset 141 is configured as a VR-only device, and insome embodiments, VR headset 141 is configured to be selectivelyoperated as either an AR device or a VR device. When a user wears VRheadset 141 and VR headset 141 generates an AR environment, VR headset141 displays AR visual elements that are superimposed on a video of theactual environment the user is facing. When a user wears VR headset 141and VR headset 141 generates a VR environment, VR headset 141 displaysVR visual elements that are incorporated into the VR environment beingpresented to the user.

Position-tracking devices 150 are devices that enable a user to interactwith portions of VR environment 160, such as virtual objects. Forexample, in some embodiments, position-tracking devices 150 include oneor more data gloves 152 that are worn by a user. Each data glove 152 isa hand-mounted position-tracking device. In such embodiments,position-tracking signals 151 of data glove 152 and/or of the fingersand hands of data glove 152 are provided to VR engine 121. VR engine 121incorporates such position, orientation, and/or gesture information intoVR environment 160. Consequently, in such embodiments, data glove 152 ora virtual avatar of the user's hand wearing data glove 152 can beincluded in VR environment 160, and can be shown interacting withvirtual objects in VR environment. Thus, a user wearing data glove 152can make selections and/or operate virtual input devices present in VRenvironment 160 that enable control signals to be generated or otherinteractions to be performed by a user. An embodiment of data glove 152is described below in conjunction with FIG. 2 .

Data Glove with Multiple Position-Tracking Subsystems

FIG. 2 is a more detailed illustration of a data glove 152, according tovarious embodiments. Data glove 152 is configured as a user input devicefor user interactions with VR environment 160. Specifically, data glove152 allows a user to interact with virtual objects naturally usingfinger motions as inputs. For example, while wearing data gloves 152,the user can press virtual buttons, clap in a VR concert, or perform anynumber of inputs through physical motion of the hand and fingers. Asshown, data glove 152 includes a glove-shaped body 201, a plurality ofposition-tracking subsystems 220, and a controller assembly 230. In theembodiment illustrated in FIG. 2 , position-tracking subsystems 220 arecommunicatively coupled to controller assembly 230 via flexibleconductors 240.

Glove-shaped body 201 enables a user to wear data glove 152 on the handand fingers and thereby employ data glove 152 while the user experiencesand/or interacts with a VR environment, such as VR environment 160. Asshown, position-tracking subsystems 220 and controller assembly 230 aremounted on glove-shaped body 201. In some embodiments, glove-shaped body201 includes a stretchable material that can expand or contract toaccommodate a wide variety of hand sizes while providing a snug fit.According to various embodiments, and as described in greater detailbelow, the accuracy of position-tracking signals 151 is not adverselyaffected by different-sized user hands and fingers whenposition-tracking subsystems 220 are positioned properly on a hand of auser. Thus, a large number of data gloves 152 of various sizes are notneeded to enable users with differently sized hands to all use VR system100 of FIG. 1 .

Each position-tracking subsystem 220 includes a magnet 221 and acorresponding sensor 222, and is configured to generate aposition-tracking signal associated with a particular digit of a user'shand. The magnet 221 and sensor 222 for a particular position-trackingsubsystem 220 are mechanically coupled to each other via a rotatablecoupling 323, such as a hinge or a patch of non-stretch fabric that canbe bent. For example, in some embodiments, a base 224 of magnet 221 ismounted on one side of rotatable coupling 323 and sensor 222 is mountedon the other side of rotatable coupling 323. One such embodiment isdescribed below in conjunction with FIG. 3 .

FIG. 3 is a more detailed illustration of position-tracking subsystem220, according to various embodiments. As shown, position-trackingsubsystem 220 is mounted on a surface 301 of glove-shaped body 201 in alocation that corresponds to a digit joint 302 of a user's hand when theuser wears data glove 152. In addition, position-tracking subsystem 220is located on surface 301 so that rotatable coupling 323 spans digitjoint 302. Thus, in the embodiment illustrated in FIG. 3 , rotatablecoupling 323 is positioned such that magnet 221 is coupled to a locationon surface 301 that corresponds to a first side 311 of digit joint 302and sensor 222 is coupled to a location on surface 301 that correspondsto a second side 312 of digit joint 302.

Magnet 221 can be any technically feasible source of a magnetic field,such as a permanent magnet or an electromagnet. In a preferredembodiment, to reduce power consumption of data glove 152, magnet 221includes a permanent magnet. Sensor 222 can be any technically feasiblesensor that generates a signal based on a strength of a magnetic field,such as a Hall-effect sensor and the like. As noted above, magnet 221and sensor 222 are each mounted on rotatable coupling 323. In theembodiment illustrated in FIG. 3 , magnet 221 is coupled to rotatablecoupling 323 via base 224 and sensor 222 is coupled to rotatablecoupling 323 via a base 225. For example, in some embodiments, magnet221 is coupled to a surface of base 224 with an adhesive and base 224 issewn or otherwise fixed to surface 301 of glove-shaped body 201.Similarly, in some embodiments, sensor 222 is coupled to a surface ofbase 225 with an adhesive and base 225 is sewn or otherwise fixed tosurface 301 of glove-shaped body 201.

Rotatable coupling 323 constrains relative motion between magnet 221 andsensor 222 to rotation about a single axis of rotation. In someembodiments, rotatable coupling 323 includes a mechanical hingemechanism that allows a single degree of freedom of motion (rotation)between magnet 221 and sensor 222. Thus, when digit joint 302 bends androtatable coupling 323 is rotationally actuated, the motion inthree-dimensional space of magnet 221 relative to sensor 222 can bedetermined based on the distance between magnet 221 and sensor 222. Insuch embodiments, when a user bends digit joint 302, the signalgenerated by sensor 222 that indicates the distance between magnet 221and sensor 222 can be used to determine the angle of actuation of digitjoint 302.

In alternative embodiments, rotatable coupling 323 can be anytechnically feasible mechanism on which magnet 221 and sensor 222 can bemounted that substantially or entirely restricts the relative motionbetween magnet 221 and sensor 222 to rotation about a single axis ofrotation. For example, in some embodiments, rotatable coupling 323 caninclude a non-stretch but flexible fabric that can bend when digit joint302 bends, but otherwise maintains the same physical relationshipbetween magnet 221 and sensor 222. In one such embodiment, thenon-stretch fabric is reinforced to prevent being twisted or otherwisedistorted in other directions beside rotation when digit joint 302bends.

In the embodiment illustrated in FIG. 2 , a single position-trackingsubsystem 220 is attached to a different finger of glove-shaped body201, and therefore, when data glove 152 is worn on the hand of a user,each position-tracking subsystem 220 is associated with a differentdigit of the user's hand. In other embodiments, multipleposition-tracking subsystems 220 are attached to the same finger ofglove-shaped body 201. In such embodiments, when data glove 152 is wornon the hand of a user, multiple position-tracking subsystems 220 areassociated with a single digit of the user's hand. In such embodiments,the multiple position-tracking subsystems 220 that are associated with aparticular digit of the user's hand can each be associated with adifferent digit joint of that particular digit. As a result, in suchembodiments, the position and/or orientation of each joint of a userdigit can be determined in real time, thereby enabling the translationof fine motor movements of a user's fingers to a VR environment,including the bending of each individual joint of each user digit.

Controller assembly 230 is configured to receive signals fromposition-tracking subsystems 220 and provide position-tracking signals151 to external computing device 120. For example, in some embodiments,controller assembly 230 receives signals from position-trackingsubsystems 220 and provides power and ground to position-trackingsubsystems 220 via flexible conductors 240 and pins included in aprinted circuit board (PCB). In the embodiment illustrated in FIG. 2 ,controller assembly 230 includes a controller chip 231 (e.g., an Arduinoboard or PCB-mounted microprocessor), a power source 232, and acommunications module 233, which may be mounted on a PCB that is part ofposition-tracking subsystem 220.

Power source 232 can include a battery. Alternatively or additionally,in some embodiments, power source 232 can include a suitable powersupply that is electrically coupled to a power source external to dataglove 152. Communications module 233 communicatively connectsposition-tracking subsystem 220 to external computing device 120, forexample via a wireless connection and/or via a wired connection. In someembodiments, the wireless connection includes a Bluetooth serialconnection, a Bluetooth low energy connection, a Wi-Fi connection,and/or the like. In some embodiments, the wired connection includes aUSB serial connection.

In some embodiments, controller chip 231 generates position-trackingsignals 151 based on the signals received from position-trackingsubsystems 220. For example, in some embodiments, controller chip 231performs scaling and mapping operations on the signals received fromposition-tracking subsystems 220 to generate position-tracking signals151. In such embodiments, the output range of each particularposition-tracking subsystem 220 is mapped to the full range of outputsthat can be received by a driver or other component of VR engine 121(shown in FIG. 1 ). For example, in some embodiments, the full range offlexion to extension of a particular digit joint is mapped to the fullrange of accepted values (e.g., 0 steps to 4095 steps) that can bereceived by VR engine 121 for the position of that particular digitjoint. Thus, in such an embodiment, the changes in position associatedwith extension and flexion of that joint is distributed over the fullrange of values accepted by VR engine 121, thereby maximizing orotherwise enhancing the precision and accuracy of position-trackingsignals 151 provided to VR engine 121. It is noted that in suchembodiments, position-tracking signals 151 are generated using a processthat is computationally much less complex than the algorithms associatedwith conventional data gloves, such as data gloves that include inertialmeasurement units (IMUs) and/or computer vision to detect the positionof a user's hand or finger. Because in each position-tracking subsystems220 a rotatable coupling 323 constrains relative motion between a magnet221 and a sensor 222 to rotation about a single axis of rotation, theposition of magnet 221 in three-dimensional space relative to sensor 222is a simple function of the distance between magnet 221 and sensor 222.Generally, the function is a quadratic function, since the magneticfield strength of a magnetic field generally changes proportional to thesquare of the distance from the center of the magnetic field.

It is noted that because each position-tracking subsystem 220 includes amagnet 221 that is located relatively close to a sensor 222. As aresult, magnet 221 can be a relatively weak magnet that is unlikely tointerfere with magnets 221 included on a different data glove 152. As aresult, two-handed gestures can be performed using data glove 152without the risk of interference from a magnet 221 associated with oneuser hand producing a signal in a sensor 222 of another user hand.

In some embodiments, controller chip 231 is configured to remap therange of signals received from a position-tracking subsystem 220 duringoperation of data glove 152. One such embodiment is described below inconjunction with FIG. 4 .

FIG. 4 sets forth a flowchart of method steps for generatingposition-tracking signals, according to various embodiments. Althoughthe method steps are described in conjunction with the systems of FIGS.1-3 , persons skilled in the art will understand that any systemconfigured to perform the method steps, in any order, is within thescope of the embodiments. In some embodiments, the method steps areperformed during normal operation of data glove 152.

As shown, a computer-implemented method 400 begins at step 401, wherecontroller chip 231 receives a raw sensor value (V) from a particularposition-tracking subsystem 220. In step 402, controller chip 231 remapsraw sensor value V to fit a range of values (such as a driver domain)associated with VR engine 121 by generating a remapped sensor value R.In some embodiments, controller chip 231 generates remapped value Rbased on values associated with the particular position-trackingsubsystem 220. For example, in some embodiments, remapped value R isbased on the raw sensor value V for the particular position-trackingsubsystem 220, a final range minimum F_(min) for the particularposition-tracking subsystem 220, a final range maximum F_(max) for theparticular position-tracking subsystem 220, a starting range minimumS_(min) for the particular position-tracking subsystem 220, and astarting range maximum S_(max) for the particular position-trackingsubsystem 220. In one such embodiment, remapped sensor value R isgenerated using the equation:

$R = {F_{\min} + {\frac{\left( {V - S_{\min}} \right)\left( {F_{\max} - F_{\min}} \right)}{\left( {S_{\max} - S_{\min}} \right)}.}}$

In step 403, controller chip 231 determines whether remapped value R isgreater than final range maximum F_(max). When remapped sensor value Ris greater than final range maximum F_(max), computer-implemented method400 proceeds to step 404; when remapped sensor value R is less than orequal to final range maximum F_(max), computer-implemented method 400proceeds to step 405.

In step 404 controller chip 231 sets remapped sensor value R to finalrange maximum F_(max). In step 405, controller chip 231 determinewhether remapped value R is less than final range minimum F_(min). Whenremapped sensor value R is less than final range minimum F_(min),computer-implemented method 400 proceeds to step 406; when remappedsensor value R is greater than or equal to final range minimum F_(min),computer-implemented method 400 proceeds to step 407. In step 406,controller chip 231 sets remapped sensor value R to final range minimumF_(min) and computer-implemented method 400 proceeds to step 407.

In step 407, controller chip transmits remapped sensor value R toexternal computing device 120, for example via a Bluetooth serialconnection, a Bluetooth low energy connection, a USB serial connection,and/or a Wi-Fi connection. External computing device 120 generates jointrotations based on the remapped sensor values R associated with eachposition-tracking subsystem 220. In some embodiments, external computingdevice 120 provides the generated joint rotations to VR engine 121. Insuch embodiments, VR engine 121 is configured to determine resultanthand and finger positions in three-dimensional space based on thegenerated joint rotations. In other embodiments, external computingdevice 120 further processes the generated joint rotations by applyingsuch joint rotations to a hand model, such as a hand model that ispositioned in three-dimensional space by an external tracker of a user'shand. In such embodiments, external computing device 120 then provideshand and finger positions in three-dimensional space to VR engine 121.

In some embodiments, calibrations can be performed to fine-tune theperformance of data glove 152. For example, in some embodiments, forsome or all of position-tracking subsystems 220 included in a data glove152, values associated with remapping raw sensor value V to a remappedvalue R can be determined periodically. For example, in suchembodiments, values associated with remapping raw sensor value V toremapped value R can be determined in response to powering up, and/or inresponse to a user donning the data glove 152. In such embodiments, foreach position-tracking subsystem 220, new values for final range minimumF_(min), final range maximum F_(max), starting range minimum S_(min),and starting range maximum S_(max) can be determined.

Finger-Splay Sensor

In some embodiment, one or more position-tracking subsystems of a dataglove include a finger splay sensor. In such embodiments, finger splayfor some or all digits of a user's hand can be determined. By includingdetection of finger splay, which is the side-to-side motion of a digitor divergence of one digit from another, more fine motor movements of auser's fingers can be incorporated in interactions with a VRenvironment. One such embodiment is described below in conjunction withFIG. 5 .

FIG. 5 is a more detailed illustration of a position-tracking subsystem520, according to various embodiments. As shown, position-trackingsubsystem 520 includes magnet 221 and sensor 222 for detecting flexionand extension of a particular digit joint 501. In addition,position-tracking subsystem 520 includes a finger-splay sensor 530. Inthe embodiment illustrated in FIG. 5 , finger-splay sensor 530 isdisposed on the hand side of digit joint 501, and is configured todetect a side-to-side splaying motion 502 of the digit associated withposition-tracking subsystem 520, where splaying motion 502 generallyoriginates from digit joint 501. In some embodiments, finger-splaysensor 530 includes a first sensor 531 and a second sensor 532. In suchembodiments, when a data glove that includes position-tracking subsystem520 is worn on the hand of a user, first sensor 531 is disposed on afirst side of digit joint 501 and the associated digit, while secondsensor 532 is disposed on a second side of digit joint 501 and theassociated digit. In such embodiments, splaying motion 502 is determinedbased on the different signals detected by first sensor 531 and secondsensor 532 as magnet 221 in moved by splaying motion 502. Alternativelyor additionally, in some embodiments, finger-splay sensor 530 includes arotary potentiometer. In such embodiments, splaying motion 502 can bedetected by rotation of the rotary potentiometer.

Exemplary External Computing Device

FIG. 6 is a block diagram of a computing device 600 configured toimplement one or more aspects of the various embodiments. Thus,computing device 600 can be a computing device associated with externalcomputing device 120, interface devices 140, and/or interaction devices150. Computing device 600 may be a desktop computer, a laptop computer,a tablet computer, a computer integrated into a VR headset, or any othertype of computing device configured to receive input, process data,generate control signals, and display images. Computing device 600 isconfigured to run computer-implemented method 400, and/or other suitablesoftware applications, which can reside in a memory 610. It is notedthat the computing device described herein is illustrative and that anyother technically feasible configurations fall within the scope of thepresent disclosure.

As shown, computing device 600 includes, without limitation, aninterconnect (bus) 640 that connects a processing unit 650, aninput/output (I/O) device interface 660 coupled to input/output (I/O)devices 680, memory 610, a storage 630, and a network interface 670.Processing unit 650 may be any suitable processor implemented as acentral processing unit (CPU), a graphics processing unit (GPU), anapplication-specific integrated circuit (ASIC), a field programmablegate array (FPGA), any other type of processing unit, or a combinationof different processing units, such as a CPU configured to operate inconjunction with a GPU. In general, processing unit 650 may be anytechnically feasible hardware unit capable of processing data and/orexecuting software applications, including computer-implemented method400. Further, in the context of this disclosure, the computing elementsshown in computing device 600 may correspond to a physical computingsystem (e.g., a system in a data center) or may be a virtual computinginstance executing within a computing cloud.

I/O devices 680 may include devices capable of providing input, such asa keyboard, a mouse, a touch-sensitive screen, and so forth, as well asdevices capable of providing output, such as a display device 681.Additionally, I/O devices 680 may include devices capable of bothreceiving input and providing output, such as a touchscreen, a universalserial bus (USB) port, and so forth. I/O devices 680 may be configuredto receive various types of input from an end-user of computing device600, and to also provide various types of output to the end-user ofcomputing device 600, such as one or more graphical user interfaces(GUI), displayed digital images, and/or digital videos. In someembodiments, one or more of I/O devices 680 are configured to couplecomputing device 600 to a network 605.

Memory 610 may include a random access memory (RAM) module, a flashmemory unit, or any other type of memory unit or combination thereof.Processing unit 650, I/O device interface 660, and network interface 670are configured to read data from and write data to memory 610. Memory610 includes various software programs that can be executed by processor650 and application data associated with said software programs,including computer-implemented method 400.

In sum, the various embodiments shown and provided herein set forth ahand-mounted position-tracking device that includes a plurality ofposition-tracking subsystems. Each position-tracking subsystem includesa magnet and a sensor, and provides an easily scalable output signalthat indicates a rotational orientation of a specific digit joint of auser's hand. In some embodiments, the magnet and sensor are coupled toeach other by a rotatable coupling that substantially or entirelyrestricts the relative motion between the magnet and the sensor torotation about a single axis of rotation. In such embodiments, therotational orientation of the specific digit joint can be determinedbased on a distance between the magnet and the sensor.

At least one technical advantage of the disclosed design relative to theprior art is that the disclosed design enables occlusion-agnostic motionand position tracking of a user's hand and fingers that is free frommagnetic interference when two-handed gestures are performed. Anothertechnical advantage of the disclosed design is that the magnet andsensor in each position-tracking subsystem have a fixed rotationalrelationship with one another that is not subject to drift and is ableto provide accurate hand and finger positioning independently of howsnugly the hand-mounted position-tracking device fits a user's hand.These technical advantages represent one or more technologicalimprovements over prior art designs and approaches.

-   -   1. In some embodiments, a hand-mounted position-tracking device        comprises: a plurality of position-tracking subsystems, wherein        each position-tracking subsystem is associated with a digit of a        hand, and wherein each position-tracking subsystem includes: a        magnet, and a sensor that generates a signal based on a distance        between the magnet and the sensor.    -   2. The hand-mounted position-tracking device of clause 1,        wherein each position-tracking subsystem associated with a given        digit is further associated with a different joint of the given        digit.    -   3. The hand-mounted position-tracking device of clauses 1 or 2,        wherein, when the hand-mounted position-tracking device is worn        on the hand, the magnet is disposed on a first side of the digit        joint and the sensor is disposed on a second side of the digit        joint.    -   4. The hand-mounted position-tracking device of any of clauses        1-3, wherein the signal indicates an angle of displacement        associated with a joint of a given digit.    -   5. The hand-mounted position-tracking device of any of clauses        1-4, wherein each position-tracking subsystem further includes a        rotatable coupling that rotationally couples the magnet to the        sensor.    -   6. The hand-mounted position-tracking device of any of clauses        1-5, wherein an angular displacement of the rotatable coupling        corresponds to an angular displacement associated with a joint        of a given digit.    -   7. The hand-mounted position-tracking device of any of clauses        1-6, wherein the rotatable coupling comprises one of a hinge or        a patch of non-stretchable fabric.    -   8. The hand-mounted position-tracking device of any of clauses        1-7, wherein each position-tracking subsystem further includes a        finger-splay sensor that generates a finger-splaying signal        associated with a particular digit of the hand.    -   9. The hand-mounted position-tracking device of any of clauses        1-8, wherein the finger-splay sensor includes a rotary        potentiometer.    -   10. The hand-mounted position-tracking device of any of clauses        1-9, wherein: the finger-splay sensor included in each        position-tracking subsystem includes a first sensor and a second        sensor, and when the hand-mounted position-tracking device is        worn on the hand, the first sensor is disposed on a first side        of a digit of the hand and the second sensor is disposed on a        second side of the digit of the hand.    -   11. The hand-mounted position-tracking device of any of clauses        1-10, wherein the magnet is mounted on a first base that is        coupled to a first side of a rotatable coupling, and the sensor        is mounted on a second base that is coupled to a second side of        the rotatable coupling.    -   12. The hand-mounted position-tracking device of any of clauses        1-11, wherein the rotatable coupling is attached to a surface of        a glove-shaped body component of the hand-mounted        position-tracking device.    -   13. The hand-mounted position-tracking device of any of clauses        1-12, further comprising a controller that receives the signal        generated by the sensor, and remaps a value associated with the        signal to a value included within a range of values associated        with a virtual reality or augmented reality environment.    -   14. In some embodiments, a computer-implemented method of        generating position-tracking signals for a hand-mounted        position-tracking device comprises: receiving a first raw sensor        value from the hand-mounted position-tracking device based on a        first magnet and a first sensor and a second raw sensor value        from the hand-mounted position-tracking device based on a second        magnet and a second sensor; generating a first remapped sensor        value based on the first raw sensor value and a second remapped        sensor value based on the second raw sensor value; and        transmitting the first remapped sensor value and the second        remapped sensor value to a computing device that is external to        the hand-mounted position-tracking device.    -   15. The computer-implemented method of clause 14, wherein        generating the first remapped sensor value comprises scaling the        first raw sensor value based on a starting range maximum value        for a position-tracking subsystem that includes the first magnet        and the first sensor and a starting range minimum value for the        position-tracking subsystem.    -   16. The computer-implemented method of clauses 14 or 15, further        comprising, determining that the first remapped sensor value        exceeds a threshold maximum range value for a position-tracking        subsystem that includes the first magnet and the first sensor;        and prior to transmitting the first remapped sensor value,        setting the first remapped sensor value equal to the threshold        maximum range value.    -   17. The computer-implemented method of any of clauses 14-16,        further comprising, determining that the first remapped sensor        value is less than a threshold minimum range value for a        position-tracking subsystem that includes the first magnet and        the first sensor; and prior to transmitting the first remapped        sensor value, setting the first remapped sensor value equal to        the threshold minimum range value.    -   18. The computer-implemented method of any of clauses 14-17,        wherein the external computing device generates one of a virtual        reality or augmented reality environment.    -   19. The computer-implemented method of any of clauses 14-18,        wherein the external computing device modifies a virtual reality        or augmented reality environment based on the first remapped        sensor value and the second remapped sensor value.    -   20. In some embodiments, a virtual reality system comprises: a        computing device for generating one of a virtual reality or an        augmented reality environment; and a hand-mounted        position-tracking device that includes: a plurality of        position-tracking subsystems, wherein each position-tracking        subsystem is associated with a digit of a hand, wherein each        position-tracking subsystem includes: a magnet, and a sensor        that generates a sensor signal based on a distance between the        magnet and the sensor, and wherein, for each position-tracking        subsystem, the hand-mounted position-tracking device transmits        to the computing device a position-tracking signal based on the        sensor signal.

Any and all combinations of any of the claim elements recited in any ofthe claims and/or any elements described in this application, in anyfashion, fall within the contemplated scope of the present invention andprotection.

The descriptions of the various embodiments have been presented forpurposes of illustration, but are not intended to be exhaustive orlimited to the embodiments disclosed. Many modifications and variationswill be apparent to those of ordinary skill in the art without departingfrom the scope and spirit of the described embodiments.

Aspects of the present embodiments may be embodied as a system, methodor computer program product. Accordingly, aspects of the presentdisclosure may take the form of an entirely hardware embodiment, anentirely software embodiment (including firmware, resident software,micro-code, etc.) or an embodiment combining software and hardwareaspects that may all generally be referred to herein as a “module,” a“system,” or a “computer.” In addition, any hardware and/or softwaretechnique, process, function, component, engine, module, or systemdescribed in the present disclosure may be implemented as a circuit orset of circuits. Furthermore, aspects of the present disclosure may takethe form of a computer program product embodied in one or more computerreadable medium(s) having computer readable program code embodiedthereon.

Any combination of one or more computer readable medium(s) may beutilized. The computer readable medium may be a computer readable signalmedium or a computer readable storage medium. A computer readablestorage medium may be, for example, but not limited to, an electronic,magnetic, optical, electromagnetic, infrared, or semiconductor system,apparatus, or device, or any suitable combination of the foregoing. Morespecific examples (a non-exhaustive list) of the computer readablestorage medium would include the following: an electrical connectionhaving one or more wires, a portable computer diskette, a hard disk, arandom access memory (RAM), a read-only memory (ROM), an erasableprogrammable read-only memory (EPROM or Flash memory), an optical fiber,a portable compact disc read-only memory (CD-ROM), an optical storagedevice, a magnetic storage device, or any suitable combination of theforegoing. In the context of this document, a computer readable storagemedium may be any tangible medium that can contain, or store a programfor use by or in connection with an instruction execution system,apparatus, or device.

Aspects of the present disclosure are described above with reference toflowchart illustrations and/or block diagrams of methods, apparatus(systems) and computer program products according to embodiments of thedisclosure. It will be understood that each block of the flowchartillustrations and/or block diagrams, and combinations of blocks in theflowchart illustrations and/or block diagrams, can be implemented bycomputer program instructions. These computer program instructions maybe provided to a processor of a general purpose computer, specialpurpose computer, or other programmable data processing apparatus toproduce a machine. The instructions, when executed via the processor ofthe computer or other programmable data processing apparatus, enable theimplementation of the functions/acts specified in the flowchart and/orblock diagram block or blocks. Such processors may be, withoutlimitation, general purpose processors, special-purpose processors,application-specific processors, or field-programmable gate arrays.

The flowchart and block diagrams in the figures illustrate thearchitecture, functionality, and operation of possible implementationsof systems, methods and computer program products according to variousembodiments of the present disclosure. In this regard, each block in theflowchart or block diagrams may represent a module, segment, or portionof code, which comprises one or more executable instructions forimplementing the specified logical function(s). It should also be notedthat, in some alternative implementations, the functions noted in theblock may occur out of the order noted in the figures. For example, twoblocks shown in succession may, in fact, be executed substantiallyconcurrently, or the blocks may sometimes be executed in the reverseorder, depending upon the functionality involved. It will also be notedthat each block of the block diagrams and/or flowchart illustration, andcombinations of blocks in the block diagrams and/or flowchartillustration, can be implemented by special purpose hardware-basedsystems that perform the specified functions or acts, or combinations ofspecial purpose hardware and computer instructions.

While the preceding is directed to embodiments of the presentdisclosure, other and further embodiments of the disclosure may bedevised without departing from the basic scope thereof, and the scopethereof is determined by the claims that follow.

What is claimed is:
 1. A hand-mounted position-tracking device,comprising: a plurality of position-tracking subsystems, wherein eachposition-tracking subsystem is associated with a digit of a hand, andwherein each position-tracking subsystem includes: a magnet, and asensor that generates a signal based on a distance between the magnetand the sensor.
 2. The hand-mounted position-tracking device of claim 1,wherein each position-tracking subsystem associated with a given digitis further associated with a different joint of the given digit.
 3. Thehand-mounted position-tracking device of claim 1, wherein, when thehand-mounted position-tracking device is worn on the hand, the magnet isdisposed on a first side of the digit joint and the sensor is disposedon a second side of the digit joint.
 4. The hand-mountedposition-tracking device of claim 1, wherein the signal indicates anangle of displacement associated with a joint of a given digit.
 5. Thehand-mounted position-tracking device of claim 1, wherein eachposition-tracking subsystem further includes a rotatable coupling thatrotationally couples the magnet to the sensor.
 6. The hand-mountedposition-tracking device of claim 5, wherein an angular displacement ofthe rotatable coupling corresponds to an angular displacement associatedwith a joint of a given digit.
 7. The hand-mounted position-trackingdevice of claim 5, wherein the rotatable coupling comprises one of ahinge or a patch of non-stretchable fabric.
 8. The hand-mountedposition-tracking device of claim 1, wherein each position-trackingsubsystem further includes a finger-splay sensor that generates afinger-splaying signal associated with a particular digit of the hand.9. The hand-mounted position-tracking device of claim 8, wherein thefinger-splay sensor includes a rotary potentiometer.
 10. Thehand-mounted position-tracking device of claim 8, wherein: thefinger-splay sensor included in each position-tracking subsystemincludes a first sensor and a second sensor, and when the hand-mountedposition-tracking device is worn on the hand, the first sensor isdisposed on a first side of a digit of the hand and the second sensor isdisposed on a second side of the digit of the hand.
 11. The hand-mountedposition-tracking device of claim 1, wherein the magnet is mounted on afirst base that is coupled to a first side of a rotatable coupling, andthe sensor is mounted on a second base that is coupled to a second sideof the rotatable coupling.
 12. The hand-mounted position-tracking deviceof claim 11, wherein the rotatable coupling is attached to a surface ofa glove-shaped body component of the hand-mounted position-trackingdevice.
 13. The hand-mounted position-tracking device of claim 1,further comprising a controller that receives the signal generated bythe sensor, and remaps a value associated with the signal to a valueincluded within a range of values associated with a virtual reality oraugmented reality environment.
 14. A computer-implemented method ofgenerating position-tracking signals for a hand-mountedposition-tracking device, the method comprising: receiving a first rawsensor value from the hand-mounted position-tracking device based on afirst magnet and a first sensor and a second raw sensor value from thehand-mounted position-tracking device based on a second magnet and asecond sensor; generating a first remapped sensor value based on thefirst raw sensor value and a second remapped sensor value based on thesecond raw sensor value; and transmitting the first remapped sensorvalue and the second remapped sensor value to a computing device that isexternal to the hand-mounted position-tracking device.
 15. Thecomputer-implemented method of claim 14, further comprising, determiningthat the first remapped sensor value exceeds a threshold maximum rangevalue for a position-tracking subsystem that includes the first magnetand the first sensor; and prior to transmitting the first remappedsensor value, setting the first remapped sensor value equal to thethreshold maximum range value.
 16. The computer-implemented method ofclaim 14, further comprising, determining that the first remapped sensorvalue is less than a threshold minimum range value for aposition-tracking subsystem that includes the first magnet and the firstsensor; and prior to transmitting the first remapped sensor value,setting the first remapped sensor value equal to the threshold minimumrange value.
 17. The computer-implemented method of claim 14, whereinthe external computing device generates one of a virtual reality oraugmented reality environment.
 18. The computer-implemented method ofclaim 14, wherein the external computing device modifies a virtualreality or augmented reality environment based on the first remappedsensor value and the second remapped sensor value.
 19. A virtual realitysystem, comprising: a computing device for generating one of a virtualreality or an augmented reality environment; and a hand-mountedposition-tracking device that includes: a plurality of position-trackingsubsystems, wherein each position-tracking subsystem is associated witha digit of a hand, wherein each position-tracking subsystem includes: amagnet, and a sensor that generates a sensor signal based on a distancebetween the magnet and the sensor, and wherein, for eachposition-tracking subsystem, the hand-mounted position-tracking devicetransmits to the computing device a position-tracking signal based onthe sensor signal.